-
Notifications
You must be signed in to change notification settings - Fork 2
Merge assisted scoring into main #10
New issue
Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.
By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.
Already on GitHub? Sign in to your account
Open
michael-m-2983
wants to merge
76
commits into
main
Choose a base branch
from
AssistedScoring
base: main
Could not load branches
Branch not found: {{ refName }}
Loading
Could not load tags
Nothing to show
Loading
Are you sure you want to change the base?
Some commits from the old base branch may be removed from the timeline,
and old review comments may become outdated.
Open
Changes from all commits
Commits
Show all changes
76 commits
Select commit
Hold shift + click to select a range
10cdf41
Autos basics
Yunju607 a6a3eb0
added boilerplate manipulator code
spoopr a70e3b1
filled in elevatorsubsystem
spoopr fd0f294
partially filled out algae subsystem
spoopr e827c10
partially filled in coral subsystem
spoopr 4f2f61c
basic climber things
spoopr f9757fe
Fixed FWERB code
Yunju607 e187d18
Fixed FWERB code (#3)
michael-m-2983 028e1f4
setting.json and updates
Yunju607 2f0e61b
Merge branch 'Autos' of https://github.com/Team2530/RobotCode2025 int…
Yunju607 b832795
changed elevator to zero by motor feedback
spoopr 1c23ca8
corrected some motors to sparkflex
spoopr c1eaf55
changed coral intake to talonfx
spoopr bd16481
Updates 2 :)
Yunju607 fab3931
updated coralarm logic
spoopr 7b1f37e
typo
spoopr f4ffbfa
add feedforward to algaearm
spoopr 6b2f585
coral position mirroring
spoopr 956fb65
add algaeintake beambreak and update intake logic
spoopr 89d1472
updated coralintake logic
spoopr 6f7249f
custom coral arm stuff i guess
spoopr 84513d4
coral virtual representation
spoopr dba1672
Auto Works
Yunju607 6c25719
Improve code readability
michael-m-2983 31e7820
readded vision
voidReq 18b8283
renamed subsystem files
spoopr e4e169f
Update/Add theoretical manipulator constants. Fix building on windows.
NifleySnifley de743a1
Add theoretical presets
NifleySnifley 233a476
add coral wrist roll restrictions
spoopr ee5a1e3
update coral subsystem setter getters
spoopr 8b01a79
put everything in robotcontainers and added bindings
spoopr 59b7257
reorganized commands
spoopr b042baa
coral simulation init
spoopr 7c17fa9
refactored coral scoring/intaking command
spoopr 83c2981
algae simulation init
spoopr e444934
removed unused references
spoopr 2003b1f
AYAAYAYA
Yunju607 cd8a07b
Merge branch 'Autos' of https://github.com/Team2530/RobotCode2025 int…
Yunju607 759031f
fixed the minimum to get simulation working
spoopr ef4addf
Merge branch 'Autos' into addManipulators
Yunju607 a797168
Revert "Merge branch 'Autos' into addManipulators"
Yunju607 4421a4f
Add debugging, command based sequencing, update control loops, etc.
NifleySnifley 5eeaf13
Hopefully fix for analog wrist encoders.
NifleySnifley 337847e
Update CAN IDs for comp bot.
NifleySnifley b7359ec
Add debugging facilities and more encoder configuration.
NifleySnifley 8ca498d
Simple feedforwards for pitch/roll. Rough tuning of pitch (sim)
NifleySnifley 334adea
Pivot, etc. simulation & rudimentary tuning.
NifleySnifley 7ea94eb
Rough elevator PID tuning.
NifleySnifley e9ccf4e
Sim pidtuning (#5)
NifleySnifley 87c35bb
cleanup code and reitegrate simulation objects
spoopr 1d0b574
Merge branch 'addManipulators' of https://github.com/Team2530/RobotCo…
NifleySnifley 3666c2e
Tuned roll, pitch, pivot, drives!
NifleySnifley 6efbd57
Tuned elevator, pivot PIDs. intake working.
NifleySnifley 4889d1f
Merge branch 'addManipulators' of https://github.com/Team2530/RobotCo…
NifleySnifley b729b91
Minor simulation fixes for pivot joint, analog encoders, etc.
NifleySnifley e97bf0c
Fix motion commands, tweak operator controls, rumble, coral intaking …
NifleySnifley bdca571
Works, but flings coral.
NifleySnifley 4d99369
Scoring is OK, intake is OK. not perfect, but it works alright.
NifleySnifley 71cfc62
Pitch tweak, move current limit too constants.
NifleySnifley 66f4b5a
Assisted scoring init, based on LL
voidReq cec0c9e
small tweaks type
voidReq 0c32d01
Accounting for intake
voidReq 43335e3
Finn's constants
voidReq 26fc514
Intaking and constants tweak
NifleySnifley 3844297
Climber support
NifleySnifley 623a88d
Rudimentary support for ultrasonic auto-mirroring.
NifleySnifley 77e8c5f
Removed (commented) limelight/odometry
voidReq 7d32268
After filler matches.
NifleySnifley 71649f4
Tweaks at the end of week 0
NifleySnifley a0467f0
Climber ready-ish for soft limits.
NifleySnifley 9033eab
Smoother constants, PID tuning utilities.
NifleySnifley 1efbda9
Velocity display for debugging.
NifleySnifley 882f239
V2 sequncnign????
NifleySnifley d9cfff1
Climber stops, zeroing in TEST mode.
NifleySnifley c19f560
Better intaking currenting.
NifleySnifley 8267082
Disable PID debugging.
NifleySnifley File filter
Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
There are no files selected for viewing
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,107 @@ | ||
| { | ||
| "System Joysticks": { | ||
| "window": { | ||
| "enabled": false | ||
| } | ||
| }, | ||
| "keyboardJoysticks": [ | ||
| { | ||
| "axisConfig": [ | ||
| { | ||
| "decKey": 65, | ||
| "incKey": 68 | ||
| }, | ||
| { | ||
| "decKey": 87, | ||
| "incKey": 83 | ||
| }, | ||
| { | ||
| "decKey": 69, | ||
| "decayRate": 0.0, | ||
| "incKey": 82, | ||
| "keyRate": 0.009999999776482582 | ||
| } | ||
| ], | ||
| "axisCount": 3, | ||
| "buttonCount": 4, | ||
| "buttonKeys": [ | ||
| 90, | ||
| 88, | ||
| 67, | ||
| 86 | ||
| ], | ||
| "povConfig": [ | ||
| { | ||
| "key0": 328, | ||
| "key135": 323, | ||
| "key180": 322, | ||
| "key225": 321, | ||
| "key270": 324, | ||
| "key315": 327, | ||
| "key45": 329, | ||
| "key90": 326 | ||
| } | ||
| ], | ||
| "povCount": 1 | ||
| }, | ||
| { | ||
| "axisConfig": [ | ||
| { | ||
| "decKey": 74, | ||
| "incKey": 76 | ||
| }, | ||
| { | ||
| "decKey": 73, | ||
| "incKey": 75 | ||
| } | ||
| ], | ||
| "axisCount": 2, | ||
| "buttonCount": 4, | ||
| "buttonKeys": [ | ||
| 77, | ||
| 44, | ||
| 46, | ||
| 47 | ||
| ], | ||
| "povCount": 0 | ||
| }, | ||
| { | ||
| "axisConfig": [ | ||
| { | ||
| "decKey": 263, | ||
| "incKey": 262 | ||
| }, | ||
| { | ||
| "decKey": 265, | ||
| "incKey": 264 | ||
| } | ||
| ], | ||
| "axisCount": 2, | ||
| "buttonCount": 6, | ||
| "buttonKeys": [ | ||
| 260, | ||
| 268, | ||
| 266, | ||
| 261, | ||
| 269, | ||
| 267 | ||
| ], | ||
| "povCount": 0 | ||
| }, | ||
| { | ||
| "axisCount": 0, | ||
| "buttonCount": 0, | ||
| "povCount": 0 | ||
| } | ||
| ], | ||
| "robotJoysticks": [ | ||
| {}, | ||
| { | ||
| "guid": "78696e70757401000000000000000000", | ||
| "useGamepad": true | ||
| }, | ||
| { | ||
| "guid": "Keyboard0" | ||
| } | ||
| ] | ||
| } |
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1 @@ | ||
| {"field_size":{"x":17.548,"y":8.052},"nodeSizeMeters":0.3,"grid":[[true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true],[true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true],[true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true],[true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true],[true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,true,true,true,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,true,true,true,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true],[true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true],[true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true],[true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true],[true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true]]} |
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,32 @@ | ||
| { | ||
| "robotWidth": 0.9, | ||
| "robotLength": 0.9, | ||
| "holonomicMode": true, | ||
| "pathFolders": [], | ||
| "autoFolders": [], | ||
| "defaultMaxVel": 0.5, | ||
| "defaultMaxAccel": 0.5, | ||
| "defaultMaxAngVel": 540.0, | ||
| "defaultMaxAngAccel": 720.0, | ||
| "defaultNominalVoltage": 12.0, | ||
| "robotMass": 74.088, | ||
| "robotMOI": 6.883, | ||
| "robotTrackwidth": 0.546, | ||
| "driveWheelRadius": 0.048, | ||
| "driveGearing": 5.143, | ||
| "maxDriveSpeed": 5.45, | ||
| "driveMotorType": "krakenX60", | ||
| "driveCurrentLimit": 60.0, | ||
| "wheelCOF": 1.2, | ||
| "flModuleX": 0.273, | ||
| "flModuleY": 0.273, | ||
| "frModuleX": 0.273, | ||
| "frModuleY": -0.273, | ||
| "blModuleX": -0.273, | ||
| "blModuleY": 0.273, | ||
| "brModuleX": -0.273, | ||
| "brModuleY": -0.273, | ||
| "bumperOffsetX": 0.0, | ||
| "bumperOffsetY": 0.0, | ||
| "robotFeatures": [] | ||
| } |
Oops, something went wrong.
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
There was a problem hiding this comment.
Choose a reason for hiding this comment
The reason will be displayed to describe this comment to others. Learn more.
We need to double-check that this still works